CN210850266U - Pretightening force setting mechanism, SCARA robot forearm structure and robot - Google Patents
Pretightening force setting mechanism, SCARA robot forearm structure and robot Download PDFInfo
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- CN210850266U CN210850266U CN201921317172.6U CN201921317172U CN210850266U CN 210850266 U CN210850266 U CN 210850266U CN 201921317172 U CN201921317172 U CN 201921317172U CN 210850266 U CN210850266 U CN 210850266U
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- 230000007246 mechanism Effects 0.000 title claims abstract description 42
- 210000000245 forearm Anatomy 0.000 title claims abstract description 17
- 230000001360 synchronised effect Effects 0.000 claims abstract description 25
- 238000009434 installation Methods 0.000 abstract description 7
- 238000012423 maintenance Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract 1
- 230000006835 compression Effects 0.000 description 6
- 238000007906 compression Methods 0.000 description 6
- 230000036316 preload Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
The utility model provides a pretightning force sets up mechanism, SCARA robot forearm structure and robot, the pretightning force sets up the mechanism and includes the axle mounting board, a supporting seat, adjusting screw, thrust block, spring and pretightning force scale, SCARA robot forearm structure includes the forearm, J3 axle and J4 axle, it sets up the mechanism to increase the pretightning force respectively at J3 axle and J4 epaxial, come adjusting spring's decrement through rotatory adjusting screw, thereby make the spring produce corresponding elasticity effect on the zonulae occludens, thereby it reaches the purpose that the accuracy set up the pretightning force to read the size of pretightning force through the position of thrust block on the pretightning force scale, the utility model discloses at the installation, the maintenance, the setting up synchronous belt drive's pretightning force that can be accurate when debugging, thereby improve the performance of complete.
Description
Technical Field
The utility model relates to a robotechnology field, concretely relates to pretightning force sets up mechanism, SCARA robot forearm structure and robot.
Background
Three joints and four joints of the SCARA robot are generally in synchronous belt transmission, and the pretightening force of the synchronous belt has great influence on the transmission precision of the synchronous belt, so that the pretightening force can influence the performance of the whole robot. When the pretightening force is smaller than the lower limit value, the jumping of the synchronous belt can be generated, and when the pretightening force is larger than the upper limit value, abnormal noise or vibration can be generated, so that the service life of an operation part is reduced. At present, when a factory of an SCARA robot installs a synchronous belt, an elastic piece push-pull force meter is used for applying relatively accurate pretightening force in the direction parallel to the center line of a small arm, the force accuracy depends on the experience level of an operator and an operation method to a large extent, if the force deviates from the direction or the reading is not accurate, the pretightening force has errors, and the related accuracy is influenced, so that the performance of the whole robot is deteriorated. In another mode, the pretightening force of the synchronous belt is measured through the acoustic wave tension meter, and the pretightening force of the synchronous belt is continuously adjusted according to the measurement result until the pretightening force meets the requirement. The method needs continuous measurement and adjustment, and has complex and inefficient process.
Disclosure of Invention
Not enough to prior art, the utility model discloses a pretightning force sets up the mechanism and can set up the pretightning force on the hold-in range accurately under the condition without other auxiliary assembly such as tensiometer, and the simple operation, stability is strong.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a pretightening force setting mechanism comprises a mounting plate, a supporting seat, an adjusting piece, a pushing piece, an elastic piece and a pretightening force scale, wherein the supporting seat is also provided with a guide piece, the guide piece is connected with the supporting seat in an interference fit or expansion or welding mode or integrally manufactured with the supporting seat, the elastic piece and the pushing piece sequentially penetrate through the guide piece from front to back, the adjusting piece is assembled on the supporting seat, the pretightening force scale can be mounted on the mounting plate in a sticking or screw connection mode or integrally manufactured with the mounting plate, the pretightening force scale is parallel to the guide piece, scales on the pretightening force scale are set after being calculated according to the rigidity of the elastic piece and the required pretightening force in advance, and the supporting seat is mounted with the mounting; the axis of the pretightening force setting mechanism is collinear with the axis of the mounting plate, so that additional moment is not generated when the pretightening force is applied.
Furthermore, a threaded hole is formed in the supporting seat, the threaded hole is matched with the adjusting piece, the adjusting piece is matched with the threaded hole and can perform spiral motion in the threaded hole, and meanwhile, the pushing piece is driven to move along the guide piece, so that the elastic piece generates compression deformation.
Furthermore, the mounting plate is provided with a shaft guide hole, the shaft guide hole is matched with the guide piece, and part of the length of the guide piece is inserted into the shaft guide hole, so that the mounting plate can move along the direction of the guide piece when being subjected to pretightening force exerted by the elastic piece.
Furthermore, one end of the pushing piece is in contact with the adjusting piece, and the other end of the pushing piece is in contact with the elastic piece.
Furthermore, a block guide hole is formed in the pushing piece, and the block guide hole is installed with the guide piece in a matched mode.
Furthermore, the adjusting part is a structure capable of being screwed in and out.
The small arm structure of the SCARA robot comprises a small arm, a J3 shaft, a J4 shaft and a plurality of pretightening force setting mechanisms, wherein the pretightening force setting mechanisms are used for adjusting the compression amount of an elastic piece by rotating an adjusting piece in the pretightening force setting mechanisms, so that the elastic piece generates corresponding elastic force to act on a synchronous belt of the J3 shaft and the J4 shaft, and the pretightening force is read through the position of a pushing piece on a pretightening force scale so as to achieve the purpose of accurately setting the pretightening force.
Further, the pretightening force setting mechanism comprises a first pretightening force setting mechanism arranged on a shaft J3 and a second pretightening force setting mechanism arranged on a shaft J4.
A robot comprising a robot forearm structure according to any of the preceding claims.
The utility model provides a pair of pretightning force sets up mechanism, SCARA robot forearm structure and robot's beneficial effect lies in: the utility model adjusts the compression amount of the elastic piece by rotating the adjusting piece in the pretightening force setting mechanism, thereby causing the elastic piece to generate corresponding elastic force to act on the synchronous belt, and reading the pretightening force by the position of the pushing piece on the pretightening force scale so as to achieve the purpose of accurately setting the pretightening force; during installation, maintenance and debugging, the pretightening force of the synchronous belt transmission of the robot forearm J3 shaft and the J4 shaft can be accurately set through the pretightening force setting mechanism, so that the performance of the whole machine is improved; the structure is compact, the operation is convenient, safe and reliable, and the working efficiency during installation, maintenance and repair is improved.
Drawings
Fig. 1 is a schematic structural view of a pretightening force setting mechanism in embodiment 1 of the present invention;
fig. 2 is a schematic view of a supporting seat structure in embodiment 1 of the present invention;
fig. 3 is a schematic view of a mounting plate structure of embodiment 1 of the present invention;
fig. 4 is a schematic structural view of a thrust block according to embodiment 1 of the present invention;
fig. 5 is a schematic structural diagram of embodiment 2 of the present invention.
In the figure: 1. mounting a plate; 2. a spring; 3. a thrust block; 4. an adjusting screw; 5. a supporting seat; 6. a guide bar; 7. a threaded hole; 8. a shaft guide hole; 9. a pre-tightening force scale; 10. a block guide hole; 11. a small arm; 101. a first mounting plate; 102. a second mounting plate; 201. a first spring; 202. a second spring; 301. a first thrust block; 302. a second thrust block; 401. a first adjusting screw; 402. a second adjusting screw; 501. a first support base; 502. a second support seat; 601. a first guide bar; 602. a second guide bar; 901. a first pre-tightening force scale; 902. a second pre-tightening force scale.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by a person skilled in the art without any inventive step are within the scope of the present invention.
Example 1: a pretension setting mechanism, see fig. 1-4.
A pretightening force setting mechanism comprises an installation plate 1, a support seat 5, an adjusting screw 4, a thrust block 3, a spring 2 and a pretightening force scale 9, wherein a guide rod 6 is further arranged on the support seat 5, the spring 2 and the thrust block 3 sequentially penetrate through the guide rod 6, the adjusting screw 4 is a socket head cap screw and is assembled on the support seat 5, the pretightening force scale 9 and the installation plate 1 are of an integrated structure, the pretightening force scale 9 is parallel to the guide rod 6, and the support seat 5 is installed with the installation plate 1 through the guide rod 6 in a matched mode; the axis of the pretightening force setting mechanism is collinear with the axis of the mounting plate 1, so that no additional moment is generated when the pretightening force is applied; the mounting plate 1 is fixed to the equipment used by means of screws.
Be provided with screw hole 7 on the supporting seat 5, screw hole 7 and adjusting screw 4 cooperation installation, adjusting screw 4 and screw hole 7 cooperation can be at screw hole 7 screw motion, thereby it makes spring 2 produce compression deformation to drive thrust block 3 along the motion of guide bar 6 simultaneously.
The guide rods 6 are symmetrically arranged at the upper end of the supporting seat 5, the threaded holes 7 are located in the middle of the two guide rods 6, and the guide rods 6 are cylindrical and fixed with the supporting seat 5 in a welding mode.
Be provided with axle guiding hole 8 on the mounting panel 1, axle guiding hole 8 and 6 clearance fit of guide bar, 6 partial length of guide bar insert in the axle guiding hole 8 to guarantee that mounting panel 1 can follow the direction motion of guide bar 6 when receiving the pretightning force that spring 2 exerted, the size of pretightning force is marked to the position of thrust block 3 on pretightning force scale 9.
One end of the thrust block 3 is contacted with the adjusting screw 4, and the other end is contacted with the spring 2; the preferred pad 3 is trapezoidal in cross-section.
The thrust block 3 is provided with a block guide hole 10, the block guide hole 10 is installed in a matched mode with the guide rod 6, and the thrust block 3 can move smoothly on the guide rod 6 through the block guide hole 10.
In the above embodiment, loosen the holding screw of mounting panel 1 earlier during the use, for preventing that mounting panel 1 from dropping, the holding screw of mounting panel 1 is not all unscrewed, and guarantee that mounting panel 1 is in free mobilizable state, rotatory adjusting screw 4 makes adjusting screw 4 at screw hole 7 spiral shell screwing movement, thereby adjusting screw 4's the other end promotes thrust block 3 and moves on guide bar 6, thereby utilize thrust block 3 to promote spring 2 compression deformation and produce the pretightning force, and promote mounting panel 1 and move, thereby drive the synchronous pulley who installs on mounting panel 1 and move to the direction of tensioning, thereby make the hold-in range produce the pretightning force. The magnitude of the pretightening force is read out through the position of the thrust block 3 on the pretightening force scale 9, and when the pretightening force reaches a required proper value, a set screw of the mounting plate 1 can be screwed and fixed. Through the above mode, the required pre-tightening force can be accurately set for the synchronous belt.
In summary, the pre-tightening force setting mechanism works according to the following principle: the compression amount of the spring is adjusted by rotating the pretightening force adjusting screw, so that the spring generates corresponding elastic force to act on the synchronous belt, and the pretightening force is read through the position of the thrust block on the pretightening force scale, so that the aim of accurately setting the pretightening force is fulfilled.
Example 2: a small arm structure of a SCARA robot, see fig. 5.
The utility model provides a SCARA robot forearm structure, includes forearm 11, J3 axle and J4 axle, J3 axle and J4 axle pass through synchronous belt drive, and set up on the forearm 11, still include like embodiment 1 pretightning force setting mechanism, pretightning force setting mechanism is including setting up at the epaxial first pretightning force setting mechanism of J3 and setting up at the epaxial second pretightning force setting mechanism of J4, pretightning force setting mechanism is used for setting up required pretightning force for the synchronous belt of J3 axle and J4 axle accurately.
The first pretightening force setting mechanism comprises a first mounting plate 101, a first supporting seat 501, a first adjusting screw 401, a first thrust block 301, a first spring 201 and a first pretightening force scale 901, a first guide rod 601 is further arranged on the first supporting seat 501, the first spring 201 and the first thrust block 301 sequentially penetrate through the first guide rod 601, the first adjusting screw 401 is an inner hexagon screw and is assembled on the first supporting seat 501, the first pretightening force scale 901 and the first mounting plate 101 are of an integrated structure, the first pretightening force scale 901 is parallel to the first guide rod 601, and the first supporting seat 501 is installed in a matched manner with the first mounting plate 101 through the first guide rod 601.
The second pretightening force setting mechanism comprises a second mounting plate 102, a second support seat 502, a second adjusting screw 402, a second thrust block 302, a second spring 202 and a second pretightening force scale 902, a second guide rod 602 is further arranged on the second support seat 502, the second spring 202 and the second thrust block 302 sequentially penetrate through the second guide rod 602 from front to back, the second adjusting screw 402 is a hexagon socket head cap screw and is assembled on the second support seat 502, the second pretightening force scale 902 and the second mounting plate 102 are of an integrated structure, the first pretightening force scale 902 is parallel to the first guide rod 602, and the second support seat 502 is installed in a matched manner with the second mounting plate 102 through the second guide rod 602.
When the pretightening force of the J3 shaft synchronous belt is set, firstly, a first mounting plate 101 set screw is loosened, in order to prevent the first mounting plate 101 from falling off, the first mounting plate 101 set screw is not completely screwed off, and the first mounting plate 101 is ensured to be in a freely movable state, the first adjusting screw 401 is rotated to enable the first adjusting screw 401 to spirally move in a first threaded hole, so that the other end of the first adjusting screw 401 pushes a first thrust block 301 to move on a first guide rod 601, thereby pushing a first spring 201 to be compressed and deformed to generate the pretightening force, and pushing the first mounting plate 101 to move, thereby driving a synchronous pulley mounted on the first mounting plate 101 to move towards the tensioning direction, and further enabling the J3 shaft synchronous belt to generate the pretightening force. The magnitude of the preload is read by the position of the first thrust block 301 on the first preload scale 901, and when the preload reaches a desired appropriate value, the set screw of the first mounting plate 101 can be screwed and fixed. Through the above method, the required pre-tightening force can be accurately set for the synchronous belt of the J3 shaft.
When the pretightening force of the J4 shaft synchronous belt is set, firstly, the second mounting plate 102 is loosened, in order to prevent the second mounting plate 102 from falling, the second mounting plate 102 is not required to be completely unscrewed, and the second mounting plate 102 is ensured to be in a freely movable state, the second adjusting screw 402 is rotated to enable the second adjusting screw 402 to spirally move in the second threaded hole, so that the other end of the second adjusting screw 402 pushes the second thrust block 302 to move on the second guide rod 602, thereby pushing the second spring 202 to be compressed and deformed to generate the pretightening force, and pushing the second mounting plate 102 to move, thereby driving the synchronous pulley mounted on the second mounting plate 102 to move towards the tensioning direction, and further enabling the J4 shaft synchronous belt to generate the pretightening force. The magnitude of the preload force is read by the position of the second pad 302 on the second preload scale 902, and when the preload force reaches a desired appropriate value, the set screw of the second mounting plate 102 can be tightened and fixed. Through the above method, the required pre-tightening force can be accurately set for the synchronous belt of the J4 shaft.
Example 3: a robot is provided.
A robot comprising the SCARA robot forearm structure of embodiment 2.
The above description is a preferred embodiment of the present invention, but the present invention should not be limited to the disclosure of the embodiment and the accompanying drawings, and therefore, all equivalents and modifications that can be accomplished without departing from the spirit of the present invention are within the protection scope of the present invention.
Claims (11)
1. The pretightening force setting mechanism is characterized by comprising a mounting plate, a supporting seat, an adjusting piece, a pushing piece and an elastic piece, wherein a guide piece is further arranged on the supporting seat, the elastic piece and the pushing piece sequentially penetrate through the guide piece from front to back, the adjusting piece is assembled on the supporting seat and connected with the pushing piece, a pretightening force scale is arranged on the mounting plate, the pretightening force scale is parallel to the guide piece, and the supporting seat is installed in a matched mode with the mounting plate through the guide piece.
2. The pretension-setting mechanism of claim 1, wherein: the pretightening force scale and the mounting plate are of an integrated structure.
3. The pretension-setting mechanism of claim 1, wherein: the mounting plate is provided with a shaft guide hole, and the shaft guide hole is matched with the guide piece for mounting.
4. The pretension-setting mechanism of claim 1, wherein: the pushing piece is provided with a block guide hole, and the block guide hole is matched with the guide piece.
5. The pretension-setting mechanism of claim 1, wherein: one end of the pushing piece is in contact with the adjusting piece, and the other end of the pushing piece is in contact with the elastic piece.
6. The pretension-setting mechanism of claim 1, wherein: the adjusting piece is a structure capable of being screwed in and out.
7. The pretension-setting mechanism of claim 1, wherein: the elastic member is a spring.
8. The pretension-setting mechanism of claim 1, wherein: the guide member is a guide rod.
9. A kind of SCARA robot forearm structure, including forearm, J3 axle and J4 axle, the said J3 axle and J4 axle pass the hold-in range drive, and set up on the said forearm, characterized by that: the pretension setting mechanism comprises a first pretension setting mechanism arranged on a shaft J3 and a second pretension setting mechanism arranged on a shaft J4, and is used for accurately setting required pretension for synchronous belts of a shaft J3 and a shaft J4.
10. A SCARA robot forearm structure according to claim 9, characterized in that: the pretightening force setting mechanism and the small arm are of an integrated structure.
11. A robot, characterized by: comprising a robot arm structure according to any of claims 9-10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921317172.6U CN210850266U (en) | 2019-08-14 | 2019-08-14 | Pretightening force setting mechanism, SCARA robot forearm structure and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921317172.6U CN210850266U (en) | 2019-08-14 | 2019-08-14 | Pretightening force setting mechanism, SCARA robot forearm structure and robot |
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| CN210850266U true CN210850266U (en) | 2020-06-26 |
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| CN201921317172.6U Active CN210850266U (en) | 2019-08-14 | 2019-08-14 | Pretightening force setting mechanism, SCARA robot forearm structure and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434845A (en) * | 2019-08-14 | 2019-11-12 | 珠海格力电器股份有限公司 | Pretightening force setting mechanism, SCARA robot forearm structure and robot |
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- 2019-08-14 CN CN201921317172.6U patent/CN210850266U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110434845A (en) * | 2019-08-14 | 2019-11-12 | 珠海格力电器股份有限公司 | Pretightening force setting mechanism, SCARA robot forearm structure and robot |
| CN110434845B (en) * | 2019-08-14 | 2024-12-24 | 珠海格力电器股份有限公司 | A preload setting mechanism, SCARA robot forearm structure and robot |
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